CN113276843A - Automatic parking method for searching parking spaces during backing - Google Patents
Automatic parking method for searching parking spaces during backing Download PDFInfo
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- CN113276843A CN113276843A CN202110693460.7A CN202110693460A CN113276843A CN 113276843 A CN113276843 A CN 113276843A CN 202110693460 A CN202110693460 A CN 202110693460A CN 113276843 A CN113276843 A CN 113276843A
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- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention belongs to the technical field of automatic parking, and discloses an automatic parking method for searching parking spaces during backing, which comprises the following steps: when the vehicle backs, detecting a first parking space; judging whether the first vehicle position can be parked or not; when the second parking space can be parked, sending a first operation instruction to a user, wherein the first operation instruction is used for confirming whether the user parks in the first parking space; when the first vehicle position is not available for parking, continuing to detect a second vehicle position; detecting a third parking space when the vehicle moves forwards; judging whether the third parking space can be parked or not; when the third parking space can be parked, sending a second operation instruction to a user, wherein the second operation instruction is used for confirming whether the third parking space is parked or not; the invention improves the use convenience of the whole system and reduces the vehicle moving times of the user; more available parking spaces are displayed, and the probability of successful parking of the user is improved.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to an automatic parking method for searching parking spaces during backing.
Background
An automatic parking system is a driving assistance system that helps a driver to identify an available parking space and automatically drive a vehicle into the parking space. The cameras and the ultrasonic radar on the automatic parking and mining vehicle sense the surrounding environment, plan the parking method and path in the central processing unit, and control the vehicle to automatically drive to the parking space.
The accurate perception of environment is very important to automatic parking system, and in order to improve the convenience that the user used, the system need can both accurately detect the parking stall under arbitrary use scene to improve user experience.
In the prior art, once the car enters a reversing state, the system does not sense the parking space any more, and the technical defect is great.
Disclosure of Invention
The invention aims to provide an automatic parking method for searching parking spaces in a backing mode, and aims to solve the existing problems.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic parking method for searching parking spaces in a backing mode comprises the following steps:
s100, detecting a first parking space when the vehicle backs up;
s200, judging whether the first parking space is available;
s300, when the first parking space can be parked, a first operation instruction is sent to a user, and the first operation instruction is used for confirming whether the user parks in the second parking space.
As an automatic parking method for searching parking spaces in a reverse mode according to the present invention, it is preferable that the method includes, after determining whether the first parking space is available at S200:
s210, when the first vehicle position is not available for parking, continuously detecting a second vehicle position.
S10, when the vehicle moves forward, detecting a third parking space;
s20, judging whether the third parking space can be parked or not;
and S30, when the third parking space can be parked, sending a second operation instruction to the user, wherein the second operation instruction is used for confirming whether the third parking space is parked or not.
As an automatic parking method for searching parking spaces in a reverse mode according to the present invention, it is preferable that the method, after determining whether the third parking space is available for parking at S20, includes the steps of:
and S21, when the third parking space can not be parked, continuously detecting a fourth parking space.
As a method for searching for a parking space in a reverse mode according to the present invention, it is preferable that after the step S210 of continuously detecting the second parking space when the first parking space is not available and the step S21 of continuously detecting the fourth parking space when the third parking space is not available, the method includes the steps of:
s400, detecting obstacles around the first parking space, the second parking space, the third parking space and the fourth parking space while detecting the first parking space, the second parking space, the third parking space and the fourth parking space.
As an automatic parking method for searching parking spaces in a reverse mode according to the present invention, preferably, after detecting obstacles around a first parking space, a second parking space, a third parking space, and a fourth parking space while detecting the first parking space, the second parking space, the third parking space, and the fourth parking space in S400, the method includes the steps of:
and S410, displaying the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle on the HM I.
As an automatic parking method for searching parking spaces in a reverse mode according to the present invention, preferably, after detecting obstacles around a first parking space, a second parking space, a third parking space, and a fourth parking space while detecting the first parking space, the second parking space, the third parking space, and the fourth parking space in S400, the method further includes:
and S420, storing the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle as memory parking space information.
As an automatic parking method for searching parking spaces in a reverse mode, it is preferable that the method includes, after the step S420 stores the first, second, third, and fourth parking spaces and the obstacle as the memory parking space information, the steps of:
and S430, automatically cruising to the memory parking space according to the memory parking space information.
Compared with the prior art, the invention has the following beneficial effects: the invention improves the use convenience of the whole system and reduces the vehicle moving times of the user; more available parking spaces are displayed, and the probability of successful parking of the user is improved.
Drawings
FIGS. 1-6 are flow diagrams of the present invention;
fig. 7 is a flow chart of another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention provides the following technical solutions: an automatic parking method for searching parking spaces in a backing mode comprises the following steps:
s100, detecting a first parking space when the vehicle backs up;
s200, judging whether the first parking space is available;
s300, when the first parking space can be parked, a first operation instruction is sent to a user, and the first operation instruction is used for confirming whether the user parks in the second parking space.
In this embodiment, the parking space is detected when the vehicle moves forward, and the parking space and other obstacles are detected by the camera and the ultrasonic wave when the vehicle moves forward, and the parking space and the availability of the parking space are displayed on the HM I. When the vehicle moves forward, the parking space and other obstacles are detected through the camera and the ultrasonic waves, and the parking space and the availability of the parking space are displayed on the HM I. Parking spaces can also be found and updated during backing. HM I shows the parking space detection result. HM I displays the parking space condition and distinguishes whether the parking space is available or not for the user to select. After the user selects the pushed parking place or the autonomous cruise module to reach the memory parking place, the system enters an automatic parking state, and the parking module is responsible for tracking the selected parking place and automatically planning and controlling parking.
Referring to fig. 2, specifically, after the step S200 of determining whether the second station is berthable includes the steps of:
s210, when the first vehicle position is not available for parking, continuously detecting a second vehicle position.
Referring to fig. 3, specifically, the method further includes the steps of:
s10, when the vehicle moves forward, detecting a third parking space;
s20, judging whether the third parking space can be parked or not;
and S30, when the third parking space can be parked, sending a second operation instruction to the user, wherein the second operation instruction is used for confirming whether the third parking space is parked or not.
Referring to fig. 4, specifically, after determining whether the third parking space is available at S20, the method includes the steps of:
and S21, when the third parking space can not be parked, continuously detecting a fourth parking space.
Referring to fig. 5, specifically, after the step S210 of continuously detecting the second parking space when the first parking space is not available and the step S21 of continuously detecting the fourth parking space when the third parking space is not available include the steps of:
s400, detecting obstacles around the first parking space, the second parking space, the third parking space and the fourth parking space while detecting the first parking space, the second parking space, the third parking space and the fourth parking space.
Referring to fig. 6, specifically, after detecting obstacles around the first, second, third, and fourth parking spaces while detecting the first, second, third, and fourth parking spaces in S400, the method includes the steps of:
and S410, displaying the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle on the HM I.
In this embodiment, the memory parking space is displayed to the HM I human-computer interface, so that the user can conveniently check and select the memory parking space.
Specifically, S400 detects obstacles around the first, second, third, and fourth parking spaces while detecting the first, second, third, and fourth parking spaces further includes:
and S420, storing the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle as memory parking space information.
Specifically, after the step S420 of storing the first, second, third, fourth and obstacle parking spaces as the memory parking space information, the method includes the steps of:
and S430, automatically cruising to the memory parking space according to the memory parking space information.
Another embodiment of the present invention, as shown in fig. 7, comprises the steps of:
s1 detects a parking space when advancing.
S2, when backing, checking the parking space, adding the newly detected parking space, and updating the position of the detected parking space.
And S3, parking and selecting the parking space to be parked.
The S4 system is automatically parked in the parking space.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An automatic parking method for searching parking spaces during backing is characterized by comprising the following steps:
s100, detecting a first parking space when the vehicle backs up;
s200, judging whether the first parking space is available;
s300, when the first parking space can be parked, a first operation instruction is sent to a user, and the first operation instruction is used for confirming whether the user parks in the first parking space.
2. The method for searching for parking space in a car backing manner according to claim 1, wherein the method comprises the following steps after the step of judging whether the first parking space is available at S200:
s210, when the first vehicle position is not available for parking, continuously detecting a second vehicle position.
3. The automatic parking method for searching parking spaces in a backing mode according to claim 1, further comprising the following steps of:
s10, when the vehicle moves forward, detecting a third parking space;
s20, judging whether the third parking space can be parked or not;
and S30, when the third parking space can be parked, sending a second operation instruction to the user, wherein the second operation instruction is used for confirming whether the third parking space is parked or not.
4. The method for searching for parking space in a car backing manner according to claim 3, wherein after the step of determining whether the third parking space is available at S20, the method comprises the steps of:
and S21, when the third parking space can not be parked, continuously detecting a fourth parking space.
5. The method for searching for a parking space in a reverse manner according to claim 1, wherein the method comprises the steps of, after continuing to detect the second space when the second space is not available at said S210 and continuing to detect the fourth space when the third space is not available at said S21:
s400, detecting obstacles around the first parking space, the second parking space, the third parking space and the fourth parking space while detecting the first parking space, the second parking space, the third parking space and the fourth parking space.
6. The method of claim 5, wherein the step S400 of detecting obstacles around the first, second, third and fourth parking spaces while detecting the first, second, third and fourth parking spaces comprises the steps of:
s410, displaying the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle on the HMI.
7. The method according to claim 5, wherein the step S400 of detecting obstacles around the first, second, third and fourth parking spaces while detecting the first, second, third and fourth parking spaces further comprises the steps of:
and S420, storing the first parking space, the second parking space, the third parking space, the fourth parking space and the obstacle as memory parking space information.
8. The method of claim 7, wherein the step of storing the first, second, third and fourth slots and the obstacle as the memory slot information in the step S420 comprises the steps of:
and S430, automatically cruising to the memory parking space according to the memory parking space information.
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| CN202110693460.7A CN113276843A (en) | 2021-06-22 | 2021-06-22 | Automatic parking method for searching parking spaces during backing |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012062517A1 (en) * | 2010-11-11 | 2012-05-18 | Robert Bosch Gmbh | Method for selecting a parking space from a plurality of parking spaces which are suitable for parking |
| CN105882650A (en) * | 2014-08-27 | 2016-08-24 | 王强 | Intelligent parking auxiliary system |
| CN108146432A (en) * | 2016-12-02 | 2018-06-12 | 现代自动车株式会社 | Parking path generation equipment includes its system and method |
| CN109615903A (en) * | 2018-11-12 | 2019-04-12 | 合肥晟泰克汽车电子股份有限公司 | Parking stall recognition methods |
| CN110239524A (en) * | 2019-05-23 | 2019-09-17 | 浙江吉利控股集团有限公司 | Automatic parking method, apparatus, system and terminal |
| CN111231945A (en) * | 2020-03-10 | 2020-06-05 | 威马智慧出行科技（上海）有限公司 | Automatic parking space searching method, electronic equipment, training method, server and automobile |
-
2021
- 2021-06-22 CN CN202110693460.7A patent/CN113276843A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012062517A1 (en) * | 2010-11-11 | 2012-05-18 | Robert Bosch Gmbh | Method for selecting a parking space from a plurality of parking spaces which are suitable for parking |
| CN105882650A (en) * | 2014-08-27 | 2016-08-24 | 王强 | Intelligent parking auxiliary system |
| CN108146432A (en) * | 2016-12-02 | 2018-06-12 | 现代自动车株式会社 | Parking path generation equipment includes its system and method |
| CN109615903A (en) * | 2018-11-12 | 2019-04-12 | 合肥晟泰克汽车电子股份有限公司 | Parking stall recognition methods |
| CN110239524A (en) * | 2019-05-23 | 2019-09-17 | 浙江吉利控股集团有限公司 | Automatic parking method, apparatus, system and terminal |
| CN111231945A (en) * | 2020-03-10 | 2020-06-05 | 威马智慧出行科技（上海）有限公司 | Automatic parking space searching method, electronic equipment, training method, server and automobile |
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Application publication date: 20210820 |